JP5389429B2 - Guide tube, guide tube device and endoscope system - Google Patents

Description

  The present invention relates to a guide tube, a guide tube device having the guide tube, and an endoscope system having the guide tube.

  The endoscope apparatus has an insertion portion, and an imaging portion such as a CCD is disposed at the distal end portion of the insertion portion. The user inserts the insertion portion to the target position, and observes the target in the visual field from the tip portion by the CCD.

Non-Patent Document 1 discloses a self-propelled endoscope in which a ciliary tape is wound around the outer periphery of an endoscope insertion portion, and the insertion portion is vibrated by a vibration motor so that the insertion portion advances in the longitudinal direction thereof. An apparatus is disclosed.
Kazuya Izaki, et al., 11th Robotics Symposia Lecture Collection (Development of Active Cords Driven by Cilia Movement Mechanism), Japan, March 16, 2006, pages 414-419.

  However, once the ciliary tape is wound around the outer periphery of the endoscope insertion portion, the ciliary tape has to be removed when used as a normal endoscope device, which is complicated.

  Therefore, there has been a demand for a guide tube capable of inserting the distal end portion to a predetermined target position, a guide tube device having the guide tube, and an endoscope system having the guide tube.

The guide tube according to the present embodiment is provided in the tubular body, a cilia portion that is provided on an outer peripheral portion of the tubular body, and is configured from a plurality of cilia inclined in the longitudinal direction of the tubular body, and the tubular body. Further, a vibrating portion that vibrates the cilia so as to advance the tubular body in the longitudinal direction, and has a vibration motor and a case in which an inner peripheral portion in which the vibration motor is housed is in close contact with the tubular body ; A step reducing portion for reducing a longitudinal step between the case and the tube surface .

The guide tube device according to this embodiment includes a tubular body, a cilia portion provided on an outer peripheral portion of the tubular body, which is composed of a plurality of cilia inclined in the longitudinal direction of the tubular body, and the tubular body. A vibrating portion having a vibration motor and a case in which an inner peripheral portion in which the vibration motor is housed is in close contact with the tubular body, which vibrates the cilia so as to advance the tubular body in the longitudinal direction. A guide tube having a step reducing portion for reducing a step in the longitudinal direction between the case and the tube surface, a vibration operation unit that operates a vibration control unit that controls the vibration unit, and the vibration A power receiving connector for receiving the driving power of the unit.

An endoscope system according to this embodiment includes an insertion portion having an imaging means at a distal end portion, an endoscope operation portion that operates the insertion portion disposed on the proximal end side of the insertion portion, and a power supply portion An endoscope apparatus having a main body portion provided with a power transmission connector for transmitting power from a power supply unit, a tubular body having an inner diameter through which the insertion portion can be inserted, and an outer peripheral portion of the tubular body Provided, a cilia portion composed of a number of cilia inclined in the longitudinal direction of the tubular body, and the cilia portion disposed in the tubular body to vibrate the cilia portion so as to advance the tubular body in the longitudinal direction ; Step reduction for reducing the step in the longitudinal direction between the vibration portion having a vibration motor and a case in which the inner peripheral portion in which the vibration motor is housed is in close contact with the tube, and the surface of the tube. and parts, a guide tube having a manipulating the vibrating portion, the endoscope Comprising a vibration operation unit detachable from the work portion, and a guide tube device having a power receiving connector which can be connected to the transmission connector.

  It is possible to provide a guide tube capable of inserting a distal end portion to a target predetermined position, a guide tube device having the guide tube, and an endoscope system having the guide tube.

<First Embodiment>
Hereinafter, an endoscope system 1 according to a first embodiment, a guide tube 10 according to a first embodiment, and a guide tube device 20 according to the first embodiment will be described with reference to the drawings. Hereinafter, the endoscope system, the guide tube, and the guide tube device are referred to as an endoscope system or the like.

  FIG. 1 is an external view showing an external appearance of an endoscope apparatus used in combination with a so-called self-propelled guide tube apparatus of the present embodiment, and FIG. 2 is an external view of the guide tube apparatus of the present embodiment. FIG. 3 is an external view showing the external appearance of the endoscope system of the present embodiment, and FIG. 4 is a block diagram showing the configuration of the endoscope system of the present embodiment.

  FIG. 1 shows an endoscope apparatus 2 used in combination with the guide tube apparatus 20 of the present embodiment. The basic configuration of the endoscope apparatus 2 is the same as that of a general-purpose endoscope apparatus, and includes a main body unit 3, an endoscope operation unit 7, and an elongated insertion unit 8. A CCD 9 as an imaging unit is disposed at the distal end 8A of the insertion unit 8. The main body 3 includes a power supply 4 that supplies power and a processing unit 3A (see FIG. 4) that includes various processing substrates (not shown). The LCD 5, which is a display unit for displaying an endoscopic image or the like, is detachably attached to the main body unit 3, and the LCD 5 operates by receiving power from the power supply unit 4 of the main body unit 3. Further, in the endoscope apparatus 2, the power supply unit 4 includes a connector 6 that is a power transmission connector for supplying power not only to the LCD 5 but also to the guide tube device 20. The connector 6 has a structure that branches the power transmission line 4 </ b> E from the power supply unit 4. That is, the endoscope apparatus 2 is obtained by replacing the power transmission connector for supplying power to the LCD 5 of the general-purpose endoscope apparatus with the connector 6 having a branch structure, and connecting the power transmission line 5A to the LCD 5 with the connector 6.

  On the other hand, the guide tube device 20 shown in FIG. 2 includes a guide tube 10 and a vibration operation unit 12. The guide tube 10 has an elongated shape with a tube body 24 having an insertion hole 24A having an inner diameter through which the insertion portion 8 of the endoscope apparatus 2 can be inserted as a so-called core. A ciliary portion 30 having 31 is provided.

  The vibration operation unit 12 is connected to the connector 15 which is a power receiving connector for receiving power via the power line 15A, and the vibration motor 21 of the vibration unit 29 connected via the signal line 12A by the operation of the switch unit 13 is used. To drive. The vibration operation unit 12 is provided with a fixing jig 12B for attaching to and detaching from the endoscope operation unit 7.

  And as shown in FIG. 3, the endoscope system 1 is comprised by integrating the guide tube apparatus 20 and the endoscope apparatus 2. As shown in FIG. That is, the insertion part 8 of the endoscope apparatus 2 is inserted into the insertion hole 24A of the guide tube 10, and the vibration operation part 12 of the guide tube apparatus 20 is inserted into the endoscope operation part 7 of the endoscope apparatus 2 by the fixing jig 12B. The connector 15 that is a power receiving connector of the guide tube device 20 is connected to the connector 6 that is a power transmission connector of the endoscope device 2. The power transmission connector may be provided in the endoscope operation unit 7.

  Next, as illustrated in FIG. 4, the vibration operation unit 12 includes a vibration control unit 14 that controls vibration and a switch unit 13 that selects a vibration motor 21 that vibrates. The guide tube device 20 can drive only a part of the vibration motors 21 selected by the switch unit 13 among the plurality of vibration motors 21 arranged at intervals in the longitudinal direction of the tube body 24. That is, the vibration motor 21 of the guide tube 10 illustrated in FIG. 4 is roughly divided into a vibration motor group 21A on the base end side, a vibration motor group 21B on the center portion, and a vibration motor group 21C on the distal end side. It can drive for every vibration motor group. Each vibration motor group includes n (n ≧ 2) integer vibration motors, for example, 21A1 to 21An. For this reason, in the endoscope system 1 or the like, the user can selectively vibrate a part of the guide tube 10.

  The vibration motor 21 is not limited to the vibration motor group (21A, 21B, 21C), and a single vibration motor 21 may be arranged at a plurality of locations, and each vibration motor can be controlled independently. There may be. Further, the number of vibration motors 21 in the vibration motor group (21A, 21B, 21C) may be different from each other.

  Next, the structure of the vibration part 29 of the guide tube 10 of this Embodiment is demonstrated using FIG.5, FIG.6 and FIG.7. FIG. 5 and FIG. 6 are transparent perspective views for explaining the structure of the vibration part of the present embodiment, and FIG. 7 is an assembled cross-sectional schematic diagram for explaining the structure of the vibration part of the present embodiment.

  As shown in FIG. 5 and FIG. 6, the vibration part 29 is a semi-cylindrical metal case having a shape in which the vibration motor 21 and the inner peripheral part in which the vibration motor 21 is housed are in close contact with the tube body 24. A motor case 22 and mechanically fixed to the tube body 24. That is, as shown in FIG. 7, the motor case 22 is arranged such that a metal fixing jig 26 having a semicircular partial cross section is in close contact with the tubular body 24 on the opposite side to the motor case 22. 27 and is fixed to the tube body 24.

  As shown in FIGS. 5 and 6, the power line 21 </ b> D that supplies power to the vibration motor 21 is spirally wound around the tube body 24. For this reason, in the endoscope system 1 and the like, the power line 21D is not subject to particularly strong deformation when the tube body 24 is curved in a specific direction, and thus is difficult to be disconnected.

  The vibration motor 21 is provided with a weight at a position deviated from the rotation shaft center of a motor shaft that is rotated by electromagnetic force by combining a permanent magnet and an electromagnet, and vibrates due to the centrifugal force of the weight when the shaft rotates. And since the vibration part 29 of this Embodiment has said structure, it can transmit a vibration efficiently compared with the vibration part currently fixed to the tubular body 24 using resin.

  Next, the step reducing portion 23 of the guide tube 10 will be described with reference to FIGS. 8 and 9. FIG. 8 is a perspective view for explaining the step reducing portion of the present embodiment, and FIG. 9 is a schematic sectional view taken along line IX-IX in FIG.

  As described with reference to FIGS. 5 and 6, the guide tube 10 of the present embodiment has a structure in which the motor case 22 protrudes from the outer peripheral portion of the tube body 24. However, as shown in FIGS. 8 and 9, the guide tube 10 has a step reducing portion 23 for reducing a step in the circumferential direction between the motor case 22 and the outer peripheral portion of the tube body 24. In other words, the step reducing portion 23 has an effect of setting the size of the cilia tape 30 </ b> A (see FIG. 10) in the vicinity of the motor case 22 to be the size of the motor case 22. The step reducing portion 23 is composed of a front portion 23A, a rear portion 23B, and an intermediate portion 23C, and is designed to form a slope from the size of the tube body 24 to the size of the motor case 22 and to make a smooth transition. Yes. Therefore, in the endoscope system 1 or the like, the cilia tape 30A can be uniformly wound around the tubular body 24.

  Here, the step reducing portion 23 shown in FIG. 9 is formed of a flexible resin and can be opened at the lower portion, so that it can be attached to and detached from the tubular body 24. Note that the step reduction portion 23 is not limited to the one having an inclined structure, and may be a structure in which a spiral step corresponding to the width of the cilia tape 30A is formed, for example, as long as the cilia tape 30A can be easily wound. It may be good, may be metal, and may be rubber.

  Next, the cilia tape 30 </ b> A of the guide tube 10 will be described with reference to FIGS. 10 and 11. FIG. 10 is a perspective view for explaining how to wind the cilia tape in the step reducing portion of the present embodiment, and FIG. 11 is a schematic cross-sectional view taken along line XI-XI in FIG. Note that the cilia of the cilia tape 30A are not shown in FIG. 10, but are shown in FIG.

As shown in FIG. 10, the cilia portion 30 is formed by winding the cilia tape 30 </ b> A around the tubular body 24 in a spiral shape. The cilia 31 of the cilia tape 30A are made of nylon having a diameter of 0.01 mm and a cilia length of 7 to 10 mm, for example, and are formed at a density of about 2500 / cm ² . Then, the cilia tape 30A inclined at a desired angle, for example, 60 degrees, has a cilia tape having the upright cilia 31 at a temperature equal to or higher than the thermoplastic deformation temperature of the material of the cilia 31 with the cilia inclined and deformed. It can be obtained by performing a heat treatment and a temperature lowering treatment. The cilia 31 may be an inorganic material such as a metal wire or a metal plate as long as it is a columnar structure.

  Then, by winding the cilia tape 30 </ b> A having the inclined cilia 31 around the tubular body 24, the cilia portion 30 having the cilia 31 inclined in the longitudinal direction of the tubular body 24 is formed. Here, in order to self-propell the guide tube 10 in the distal direction, the cilia 31 are preferably inclined in the proximal direction. When the cilia 31 inclined in the longitudinal direction of the cilia tape 30 </ b> A are wound around the tubular body 24 in a spiral shape, the cilia 31 has an inclination corresponding to the helical angle from the longitudinal direction of the tubular body 24. That is, the direction of inclination of the cilia 31 does not need to be completely coincident with the longitudinal direction of the tube body 24, as long as it has a longitudinal direction component, for example, tilts about 45 degrees from the longitudinal direction of the tube body 24. It may be.

  Note that the cilia tape 30A of the guide tube 10 is fixed at the vibrating portion 29 by using the pipe body 24 and a screw 29A that is a mechanical fixing member. For this reason, in the endoscope system 1 or the like, the ciliary tape 30A is less likely to be detached from the tubular body 24 even when subjected to stress, compared to the case where the cilia tape 30A is fixed to the tubular body 24 with an adhesive tape, and It is easy to replace the cilia tape 30A when it becomes dirty.

  The cilia tape 30 </ b> A is wound after the vibrating portion 29 and the step reducing portion 23 are disposed on the outer peripheral portion of the tubular body 24. For this reason, in the place where the vibration part 29 or the step reduction part 23 of the tubular body 24 is provided, the cilia 30 is disposed on the outer surface of the vibration part 29 or the step reduction part 23, and the vibration part 29 or the step reduction is provided. The ciliary portion 30 is not disposed on the tubular body 24 in contact with the portion 23.

  As shown in FIG. 11, in the guide tube 10, the length of the cilia 31 of the cilia tape 30 </ b> A wound around the motor case 22 and the adjacent portion of the motor case 22 is shorter than the cilia 31 of other portions, and the guide tube The maximum outer diameter R1 of 10 is the same as the other parts. The maximum outer diameter R1 is the outer diameter of the guide tube 10 including the tip portion of the cilia 31 as shown in FIG. In the endoscope system 1 or the like, since the guide tube 10 is in uniform contact with the surrounding ground or the like at the tip of the cilia 31, the self-running characteristic, for example, the running speed is fast.

  Next, FIG. 12 is a view for explaining the structure in the vicinity of the distal end portion of the guide tube of the present embodiment. FIG. 12A shows a cross-sectional structure of the guide tube 10 in the longitudinal direction, and FIG. 12B shows a state observed from the distal end portion of the guide tube 10.

  As shown in FIG. 12A, a distal end fitting 25 having a microphone 28A and a speaker 28B is disposed at the distal end of the guide tube 10.

  As already described, in the guide tube 10, the cilia 31B of the motor case 22 part and the cilia 31C of the proximity part of the motor case 22 are shorter than the cilia 31A of other parts, in other words, the guide tube 10 The maximum outer diameter R1 is the same as the other parts.

  Next, a usage pattern of the endoscope system 1 according to the present embodiment will be described as an example of searching for a victim from rubble at a disaster site. As shown in FIG. 3, the user can handle the endoscope system 1 as a single endoscope system 1 by integrating the general-purpose endoscope apparatus 2 and the guide tube apparatus 20. Is excellent in portability. Further, in the endoscope system 1 or the like, it is not necessary to separately prepare a power source for the guide tube device.

  The user inserts the guide tube 10 in the direction of the position where the victim may be present through the gap between the debris. Then, only the vibration motor group 21 </ b> C on the distal end side is vibrated by operating the switch unit 13 of the vibration operation unit 12. Then, the tip of the cilia 31 of the cilia 30 that vibrates by the vibration motors 21C1 to 21Cn performs an elliptical motion due to the repulsive force generated by friction with the surrounding debris, thereby generating a propulsive force in the longitudinal direction, that is, the tip. Therefore, the guide tube 10 in which the insertion portion 8 is inserted advances by itself through the gap in the debris to a deep portion in the longitudinal direction. In other words, the vibration part 29 vibrates the cilia part 30 so as to advance the tubular body 24 in the longitudinal direction.

  The user can confirm the endoscopic image captured by the CCD 9 disposed at the distal end portion 8A of the insertion portion 8 of the endoscope apparatus 2 on the LCD 5 while the guide tube 10 is self-propelled, and if necessary, Then, the insertion portion 8 is bent. Even if the user holds the proximal end side of the long guide tube 10, the proximal end side does not vibrate, and thus the endoscope system 1 and the like have good operability.

  When the guide tube 10 self-propels in the rubble and the central portion of the guide tube 10 enters the rubble, the user operates the switch portion 13 to start vibration of the vibration motor group 21B in the central portion. In the guide tube device 20, since the vibration operation unit 12 is integrated by the endoscope operation unit 7 and the fixing jig 12B, the user can perform the endoscope operation and the vibration operation at the same time.

  When the guide tube 10 further self-propels in the rubble and the base end side of the guide tube 10 enters the rubble, the user operates the switch unit 13 to vibrate the vibration motor group 21A on the base end side. To start. Further, the user may drive only a part of the vibration motor group according to the situation around the guide tube 10. Since the guide tube device 20 can drive only a necessary vibration motor, it can be used for a long time even when a battery is used as a power source.

  Note that the user may cause the guide tube 10 to self-run in a state where the distal end portion of the insertion portion 8 is not inserted into the tubular body 24 up to the distal end portion 10 </ b> A of the guide tube 10, depending on the state of rubble and the like. In this case, the portion of the guide tube 10 where the insertion portion 8 is not inserted is excellent in flexibility and is easily bent, and therefore, it is easy to enter the deep portion along a course that can proceed in a curved space. In addition, the portion of the guide tube 10 in which the insertion portion 8 is inserted is rigid to some extent, so that it is easy to handle when the user operates with the hand.

  In the guide tube device 20, when the victim can be confirmed in the debris by the endoscopic image, the user can talk with the victim using the microphone 28 </ b> A or the speaker 28 </ b> B of the distal end portion 10 </ b> A. Further, in the guide tube device 20, the insertion portion 8 of the endoscope device 2 can be removed from the tube body 24, and a supply tube for supplying air or water to the victim can be inserted into the tube body 24.

  That is, since the endoscope system 1 includes the guide tube 10, it is not only easy to insert the distal end portion 8A of the endoscope apparatus 2 to the target position, but also the state where the distal end portion 10A is left at the target position. Thus, it is possible to contribute to the rescue of the victim by inserting a tool according to the situation on the site into the tube body 24 instead of the insertion portion 8.

  In a self-propelled endoscope in which a cilia portion is provided in the insertion portion itself, the outer diameter of the insertion portion may be large and cannot be inserted into a narrow gap. However, in the endoscope system 1, it is necessary for the user to manually insert the endoscope system 1, but the endoscope apparatus 2 can be used alone depending on the situation.

<Second Embodiment>
Hereinafter, an endoscope system and the like according to the second embodiment of the present invention will be described. Since the endoscope system 1B and the like according to the present embodiment are similar to the endoscope system 1 and the like according to the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted. FIG. 13 is a configuration diagram showing the configuration of the endoscope system 1B of the present embodiment.

  As shown in FIG. 13, the endoscope system 1 </ b> B of the present embodiment includes one endoscope device 2 and a plurality of guide tube devices 20 </ b> A to 20 </ b> C. The guide tube devices 20A to 20C have power supply units 4A to 4C, respectively. Although FIG. 13 shows an example in which the power supply units 4A to 4C are integrated with the vibration operation unit 12, the power supply units 4A to 4C may be housed in the respective vibration operation units 12. Good. Furthermore, it is preferable that the specification of the power supplied from the power supply units 4A to 4C is the same as the power supplied from the power supply unit 4 of the endoscope apparatus 2 to the LCD 5 or the like. Depending on the situation, the guide tube devices 20A to 20C can receive power from the power supply unit 4, and conversely, the guide tube devices 20A to 20C supply power to the LCD 5 and the like of the endoscope device 2. It is because it can also.

  And guide tube apparatus 20A-20C can be used individually, respectively. For this reason, the user can use the guide tube devices 20A to 20C at different places, in other words, the guide tubes can be inserted at different target positions. Although it takes time to insert the guide tube to the target position, the user can insert the guide tube into the tube body 24 of the guide tube apparatus that has been inserted into the target position among the plurality of guide tube apparatuses 20A to 20C. By inserting the insertion portion 8 of the endoscope apparatus 2, it is possible to confirm an endoscopic image at the target position.

  That is, since the endoscope apparatus 2 is expensive, it is economically problematic to prepare a large number of endoscope apparatuses 2. However, since the endoscope system 1B includes one endoscope device 2 and a plurality of relatively inexpensive guide tube devices 20A to 20C, the operation can be performed efficiently.

  In particular, since the guide tube devices 20A to 20C are self-propelled guide tube devices, it is not necessary for the operator to always operate them. The operator can operate each guide tube 10 to start self-running, leave it after starting self-running, and perform self-running start operation of other guide tube devices.

  Of course, a plurality of users operate each of the guide tube devices 20A to 20C, and the insertion operation 8 to the target position is completed, the insertion portion 8 of the endoscope device 2 is inserted into any of the guide tube devices, An endoscopic image at the target position may be confirmed. Furthermore, the insertion portion 8 of the endoscope apparatus 2 may be inserted into any of the plurality of guide tube apparatuses 20A to 20C from the start of self-running.

  As described above, the endoscope system according to the present embodiment is an endoscope that operates the insertion portion having the imaging means at the distal end portion and the insertion portion disposed on the proximal end side of the insertion portion. Endoscope apparatus having a mirror operation unit, a main body unit provided with a power supply unit, a power transmission connector for transmitting power from the power supply unit, a tube body having an inner diameter through which the insertion unit can be inserted, A cilia portion formed of a large number of cilia inclined in the longitudinal direction of the tubular body provided on the outer peripheral portion of the tubular body, and the tubular body disposed in the tubular body so as to advance in the longitudinal direction A plurality of guide tubes having a vibrating part that vibrates the cilia, a vibration operating part that can be attached to and detached from the endoscope operating part for operating the vibrating part, and a power receiving connector that can be connected to the power transmission connector An endoscope system comprising: Is Temu.

  When the endoscope system 1B is used for searching for a victim in the rubble, the self-running is stopped when, for example, a human voice is detected by the microphone of the distal end portion 10A of the guide tube 10. Moreover, workability can be further improved by the vibration control unit 14 performing control.

  In the above description, the example using the vibration motor 21 that generates vibration by electromagnetic force has been described as the vibration unit 29. However, the vibration unit using a piezoelectric element, the vibration unit using an ultrasonic vibrator, or magnetostriction is described. A vibration part using an element or the like can be used. In addition, when using the vibration part which has an elongate structure, it is preferable that only a part of the vibration part can vibrate.

  The present invention is not limited to the above-described embodiments and modifications, and various changes and modifications can be made without departing from the scope of the present invention.

It is an external view which shows the external appearance of the endoscope apparatus used in combination with the guide tube apparatus of 1st Embodiment. It is an external view which shows the external appearance of the guide tube apparatus of 1st Embodiment. It is an external view which shows the external appearance of the endoscope system of 1st Embodiment. It is a block diagram showing the structure of the endoscope system of 1st Embodiment. It is a permeation | transmission perspective view for demonstrating the structure of the vibration part of the guide tube apparatus of 1st Embodiment. It is a perspective view for demonstrating the structure of the vibration part of the guide tube apparatus of 1st Embodiment. It is an assembly cross-sectional schematic diagram for demonstrating the structure of the vibration part of the guide tube apparatus of 1st Embodiment. It is a perspective view for demonstrating the level | step difference reduction part of 1st Embodiment. It is a cross-sectional schematic diagram in the IX-IX line of the guide tube of FIG. It is a perspective view for demonstrating how to wind the cilia tape in the level | step difference reduction part of 1st Embodiment. It is a cross-sectional schematic diagram in the XI-XI line of FIG. It is a figure for demonstrating the structure of the front-end | tip part vicinity of the guide tube of 1st Embodiment, FIG. 12 (A) is sectional drawing of a longitudinal direction, and FIG. 12 (B) is when observed from a front-end | tip part. It is an external view which shows the external appearance. It is an external view which shows the structure of the endoscope system of 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 1B ... Endoscope system 2 ... Endoscope apparatus 3 ... Main-body part 4 ... Power supply part 6 ... Connector 7 ... Endoscope operation part 8 ... Insertion part 10 ... Guide tube 12 ... Vibration operation part 13 ... Switch part 14 ... Vibration controller 15 ... Connector 20 ... Guide tube device 21 ... Vibration motor 22 ... Motor case 23 ... Step reduction part 24 ... Tube body 24A ... Insertion hole 26 ... Fixing jig 29 ... Vibration part 29A ... Screw 30 ... Cilia part 30A ... cilia tape 31, 31A-31C ... cilia

Claims (10)

Tube,
Provided on the outer periphery of the tubular body, a cilia portion composed of a number of cilia inclined in the longitudinal direction of the tubular body;
A case provided in the tubular body, which vibrates the cilia so as to advance the tubular body in the longitudinal direction, and a shape in which an inner peripheral portion in which the vibration motor is housed is in close contact with the tubular body; A vibrating part having
A guide tube comprising: a step reducing portion for reducing a step in the longitudinal direction between the case and the surface of the tubular body .   The guide tube according to claim 1, wherein a length of the cilia of the cilia provided on the outer peripheral portion of the case is shorter than that of the cilia in other portions. The guide tube according to claim 2 , wherein the cilia portion is fixed to the tubular body at the vibrating portion. The guide tube according to claim 3 , wherein the cilia portion is fixed to the tubular body by a fixing member. The guide tube according to claim 4 , wherein the cilia portion is configured by winding a cilia tape having cilia on one side around the tubular body.   The guide tube according to claim 5, wherein a plurality of the vibration parts are provided.   The guide tube according to claim 6, wherein only some of the vibrating parts can be selectively driven. A tubular body, a cilia provided on an outer peripheral portion of the tubular body, which is configured by a plurality of cilia inclined in the longitudinal direction of the tubular body, and the tubular body disposed in the tubular body is disposed in the longitudinal direction. A vibrating portion that vibrates the cilia so as to advance in a direction, and has a vibration motor and a case in which an inner peripheral portion in which the vibration motor is housed is in close contact with the tubular body, and the case and the tubular body surface, A guide tube having a step reducing portion for reducing the step in the longitudinal direction of
A vibration operation unit that operates a vibration control unit that controls the vibration unit;
A guide tube device comprising: a power receiving connector for receiving driving power of the vibrating portion. The tube has an inner diameter through which an insertion portion of an endoscope apparatus in which an imaging unit is disposed at a distal end portion can be inserted;
The vibration operation unit has a fixing jig that can be attached to and detached from the endoscope operation unit of the endoscope apparatus,
The guide tube device according to claim 8 , wherein the power receiving connector is connectable to a power transmission connector for transmitting electric power from a power supply unit of the endoscope device. An insertion portion having an imaging means at a distal end portion, an endoscope operation portion for operating the insertion portion disposed on the proximal end side of the insertion portion, a main body portion provided with a power supply portion, and a power supply portion An endoscope device having a power transmission connector for transmitting electric power from
A tubular body having an inner diameter through which the insertion portion can be inserted, a cilia portion formed on the outer peripheral portion of the tubular body, which is composed of a number of cilia inclined in the longitudinal direction of the tubular body, and disposed in the tubular body A vibrating portion having a vibration motor that vibrates the cilia so as to advance the tubular body in the longitudinal direction and a case in which an inner peripheral portion in which the vibration motor is housed is in close contact with the tubular body; A guide tube having a step reducing portion for reducing a step in the longitudinal direction between the case and the surface of the tubular body, and a vibration operation portion detachably attached to the endoscope operation portion for operating the vibration portion. And a guide tube device having a power receiving connector connectable to the power transmitting connector.

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